diff --git a/habitat/core/simulator.py b/habitat/core/simulator.py
index a9b670fd2a5bf74620b9643c48db19c1b0ac8645..7effea5e457014bb8141d2465c14855650ead9b6 100644
--- a/habitat/core/simulator.py
+++ b/habitat/core/simulator.py
@@ -97,6 +97,9 @@ class SimulatorActionsSingleton(metaclass=Singleton):
     def __len__(self):
         return len(self._known_actions)
 
+    def __iter__(self):
+        return iter(self._known_actions)
+
 
 SimulatorActions = SimulatorActionsSingleton()